Flying Insects and Robots
Flying Insects and Robots
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DOI：
10.1007/978-3-540-89393-6
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发表时间：
2010
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飞虫代表了微观尺度上进化设计的一个迷人的例子。它们小巧的体型并不妨碍它们感知世界、飞行、行走、跳跃、追逐、逃跑、在社会中生活，甚至在漫长的一天结束时找到回家的路。它们的体型和能量限制需要极其高效和专业的解决方案，这些解决方案通常与我们习惯在大型动物身上看到的解决方案大不相同。例如，飞行昆虫的视觉系统，其特征是由成千上万的小眼组成的复眼——“小眼睛”——代表了人类眼睛设计的一个戏剧性的替代方案，我们与所有脊椎动物共享眼睛，并推动了今天相机的设计。昆虫的眼睛与人类的眼睛只是在光学和成像特征上有表面上的区别，还是它们的主人的神经系统以不同的方式处理接收到的信息？本书探讨了这个问题的几个方面。飞虫的神经系统不仅协调动物在极高速和非常动态的条件下的感知和运动，而且还积极监测周围环境的特征，支持在非常小的点精确着陆，处理从高湍流和碰撞中恢复，指导探索环境以寻找食物，庇护所或伴侣，甚至使动物能够记住如何返回巢穴。飞虫通过使用整个胸腔产生快速的、共振的、类似呼吸的收缩来移动翅膀，从而导致翅膀附体的运动，附体的形态和组成材料随后改变了基本的、被动的在空气中拍打的运动。因此，这些生物代表了工程师们的一个迷人的灵感来源，他们的目标是创造越来越小的、自主的机器人，这些机器人可以像鸭子下水一样飞到空中，去以前没有机器去过的地方。与此同时，机器昆虫可以作为具体模型，用于测试科学假设，这些假设在数值模拟中是不可能研究的，因为很难创造逼真的视觉环境，在非常湍流和低速的状态下捕捉流体动力学的物理特性，再现构成昆虫身体的主动和被动材料的弹性特性，并准确地模拟驱动系统行为的感知-行动循环。尽管最近取得了许多进展，但飞行昆虫的功能和微型飞行机器人的设计都还没有完全理解，这使得这个跨学科的研究领域非常迷人，发现丰富。这本书汇集了第一次高度挑选和精心编辑的贡献，从一个社区的生物学家和工程师谁分享相同的激情v
Flying insects represent a fascinating example of evolutionary design at the microscopic scale. Their diminutive size does not prevent them from perceiving the world, flying, walking, jumping, chasing, escaping, living in societies, and even finding their way home at the end of a long day. Their size and energy constraints demand extremely efficient and specialized solutions, which are often very different from those that we are accustomed to seeing in larger animals. For example, the visual system of flying insects, which features a compound eye comprising thousands of ommatidia–“little eyes”–represents a dramatic alternative to the design of our own eyes, which we share with all vertebrates and which has driven the design of today’s cameras. Do insect eyes differ from human eyes only superficially with respect to the optical and imaging characteristics, or do the nervous systems of their owners process the information that they receive in different ways? Several aspects of this question are explored in this book. The nervous system of flying insects not only coordinates the perception and motion of the animal at extremely high speed and in very dynamic conditions, but it actively monitors features in the surrounding environment, supports accurate landings in very tiny spots, handles recovery from high turbulence and collisions, directs the exploration of the environment in search of food, shelter or partners, and even enables the animal to remember how to return to its nest. Flying insects move their wings by using the whole thorax to produce fast, resonating, respiration-like contractions that result in the movement of the wing appendages, whose morphology and constituent materials then modify the basic, passive flapping motion through the air. As such, these creatures represent a fascinating source of inspiration for engineers aiming to create increasingly smaller and autonomous robots that can take to the air like a duck to water, and go where no machine has gone before. At the same time, robotic insects can serve as embodied models for testing scientific hypotheses that would be impossible to study in numerical simulations because of the difficulty in creating realistic visual environments, capturing the physics of fluid dynamics in very turbulent and low-speed regimes, reproducing the elastic properties of the active and passive materials that make up an insect body, and accurately modelling the perception-action loops that drive the behavior of the system. Despite much recent progress, both the functioning of flying insects and the design of micro flying robots are not yet fully understood, which makes this transdisciplinary area of research extremely fascinating and fertile with discoveries. This book brings together for the first time highly selected and carefully edited contributions from a community of biologists and engineers who share the same passion for v